Ride comfort control of in-wheel motor drive unmanned ground vehicles with energy regeneration

Zhang, Lipeng; Ren, Chenhui; Yuan, Xinmao; Zhang, Wei

doi:10.1177/0954407020933364

Cited by 7 publications

(4 citation statements)

References 23 publications

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“…In previous research, motor vibration was often neglected. 10,[31][32][33] Therefore, this section raises an optimisation model of the EV with the in-wheel motor as DVA to improve ride comfort and motor vibration.…”

Section: Optimisation Problem Statementmentioning

confidence: 99%

Optimisation of electric vehicle with the in-wheel motor as a dynamic vibration absorber considering ride comfort and motor vibration based on particle swarm algorithm

Zhao

Fan

2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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Compared with other electric vehicles, the ride comfort of the electric vehicle with the in-wheel motor as a dynamic vibration absorber has significantly improved. However, the in-wheel motor is used as a dynamic vibration absorber, aggravating the motor vibration, thus affecting motor performance and life. In addition, the space inside the wheel is limited, so the vibration displacement of the motor relative to the hub needs to be constrained. In fact, the literature on ride comfort of the electric vehicle with the in-wheel motor as a dynamic vibration absorber has hardly considered motor vibration. So, this article comprehensively investigates the ride comfort and motor vibration of this electric vehicle. Firstly, the vibration model of the electric vehicle with the in-wheel motor as a dynamic vibration absorber is established. Then, the optimisation model of this electric vehicle is founded. Next, the multi-objective particle swarm optimisation algorithms based on adaptive grid and crowding distance are used to optimise the model, and these two algorithms are compared. The optimal solutions in three typical cases are obtained. Finally, the vibration responses of this electric vehicle model before and after optimisation, the traditional electric vehicle model, and the in-wheel motor drive electric vehicle model are compared in case 1. The results show that all vibration responses are improved to different degrees after optimisation; the algorithm based on crowding distance can seek out the optimal solutions faster, but it takes longer to complete the whole optimisation process.

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Section: Optimisation Problem Statementmentioning

confidence: 99%

Optimisation of electric vehicle with the in-wheel motor as a dynamic vibration absorber considering ride comfort and motor vibration based on particle swarm algorithm

Zhao

Fan

2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…In the literature, numerous research findings dedicated to the design of suspension systems for machines and vehicles can be found [41,3,35]. They primarily focus on three criteria: − health and comfort [6,17,39,42] in terms of vibration frequency and amplitude; − safety [22,29] concerning stability and motion steadiness.…”

Section: Introductionmentioning

confidence: 99%

Study on the Influence of an UGV Suspension System on Camera Motion of the Teleoperation System

Rubiec,

Przybysz,

Łopatka

et al. 2024

PAR

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In the following article, the results of a study on the impact of the suspension system used in Unmanned Ground Vehicles (UGVs) on the kinematic excitation of cameras in teleoperation systems are presented. As indicated by preliminary reconnaissance studies, these excitations significantly affect the operator’s ability to perceive the environment and recognize images while driving. Currently, there is a lack of publications and guidelines in the literature regarding the design of UGV suspensions and their evaluation in terms of improving operator perception in teleoperation systems. The studies were conducted in a simulated environment using multibody systems, where various suspension structure variants were developed. The tests were carried out on the ISO 5008 rough test track. The evaluation of the tested suspension structures was carried out using a proprietary method, enabling parametric analysis and the selection of favorable solutions for improving image recognition by the UGV operator. Future research can focus on adjustment of the UGV suspension characteristics which could have significant influence on situational awareness and the operator’s ability to act effectively, especially during dynamic missions.

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“…[15][16][17] The deterioration of ride comfort caused by the increase of unsprung mass can also be ameliorated by adjusting the parameters of the suspension system in real time, that is, adopting the active or semi-active suspension. The ride comfort control method based on regenerative suspension proposed by Zhang et al 18 not only reduced the body vibration acceleration of the vehicle driven by in-wheel motors but also can recover part of vehicle vibration energy. Tan et al 19 designed a dual-loop proportion integration differentiation controller based on the particle swarm algorithm to control the active suspension of an electric vehicle driven by two rear in-wheel motors.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling, and research on vertical performance of a drive system with in-wheel motor as dynamic vibration absorber

Zhao

Fan

2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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There are many advantages to an in-wheel motor drive (IWMD) vehicle. However, installing the motor in the wheel will increase the unsprung mass and deteriorate the vehicle ride comfort. In this paper, this conclusion is verified by a comparative simulation test of ride comfort. To solve the above problems, this paper puts forward a new in-wheel motor drive (NIWMD) model and comprehensively evaluates the vertical performance of the vehicle from two aspects: vehicle ride comfort and motor vibration. The vertical performance evaluation indexes include body acceleration, wheel dynamic load, suspension dynamic deflection, motor acceleration, and motor relative displacement. The vertical performance of the NIWMD model, CMD model, and IWMD model is compared. The results show that, especially in the high-frequency resonance region, the NIWMD model can effectively suppress the peak vibration response and improve the vehicle vertical performance. The influence of system parameters of the NIWMD model is studied, and the sensitivity of system parameters is calculated. The research results show the parameters that have a great influence on the vehicle vertical performance, which points out the direction for the optimization of the vertical performance of the NIWMD model.

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Ride comfort control of in-wheel motor drive unmanned ground vehicles with energy regeneration

Cited by 7 publications

References 23 publications

Optimisation of electric vehicle with the in-wheel motor as a dynamic vibration absorber considering ride comfort and motor vibration based on particle swarm algorithm

Optimisation of electric vehicle with the in-wheel motor as a dynamic vibration absorber considering ride comfort and motor vibration based on particle swarm algorithm

Study on the Influence of an UGV Suspension System on Camera Motion of the Teleoperation System

Design, modeling, and research on vertical performance of a drive system with in-wheel motor as dynamic vibration absorber

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